Summary

• Page properties (5 modified, 0 added, 0 removed)

Details

Page properties

Title

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1		-LSS-P - Communication Protocol
	1	+LSS-PRO Communication Protocol

Parent

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1		-lynxmotion-smart-servo-pro.WebHome
	1	+ses-pro.lss-pro.WebHome

Author

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1		-xwiki:XWiki.CBenson
	1	+xwiki:XWiki.ENantel

Hidden

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1		-true
	1	+false

Content

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1		-{{warningBox warningText="More information coming soon"/}}
2		-
3		-
4		-
5	5	(% class="wikigeneratedid" id="HTableofContents" %)
6	6	**Page Contents**
7	7
...	...	@@ -95,7 +95,7 @@
95	95
96	96	The ability to store a "virtual angular position" is a feature which allows for rotation beyond 360 degrees, permitting multiple rotations of the output horn, moving the center position and more. The "absolute position" would be the angle of the output shaft with respect to a 360.00 degree circle and can be obtained by taking the modulus (with respect to 360 degrees) of the value. For example if the virtual position is reported as 153350 (or 1533.50 degrees), taking the modulus would give 93.5 degrees (36000 * 4 + 9350 = 153350) as the absolute position (assuming no origin offset).
97	97
98		-[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-positions.jpg||alt="LSS-servo-positions.jpg"]]
	94	+[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-positions.jpg||alt="LSS-servo-positions.jpg"]]
99	99
100	100	In this example, the gyre direction (explained below, a.k.a. "rotation direction") is positive (clockwise), and origin offset has not been modified. Each square represents 30 degrees. The following command is sent:
101	101
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120	120
121	121	|(% colspan="8" style="color:orange; font-size:18px" %)[[**Communication Setup**>>||anchor="HCommunicationSetup"]]
122	122	|(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
123		-| |[[**Reset**>>||anchor="HReset"]]|(% style="text-align:center" %)RESET|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Soft reset. See command for details.
124		-| |[[**Default** Configuration>>||anchor="HDefault26confirm"]]|(% style="text-align:center" %)DEFAULT|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Revert to firmware default values. See command for details
125		-| |[[Firmware **Update** Mode>>||anchor="HUpdate26confirm"]]|(% style="text-align:center" %)UPDATE|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Update firmware. See command for details.
126		-| |[[**Confirm** Changes>>||anchor="HConfirm"]]|(% style="text-align:center" %)CONFIRM|(% style="text-align:center" %) |(% style="text-align:center" %) | | |
127		-| |[[**E**nable CAN **T**erminal>>||anchor="HConfigureRCMode28CRC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QET|(% style="text-align:center" %)CET| |0 or 1|0: Disable  1: Enable
128		-| |[[**ID** Number >>||anchor="HIdentificationNumber28ID29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QID|(% style="text-align:center" %)CID|0| |Reset required after change. ID 254 is a "broadcast" which all servos respond to.
129		-| |[[**U**SB **C**onnection State>>||anchor="HBaudRate"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QUC|(% style="text-align:center" %) | |0 or 1|0: Not connected 1: Connected
130		-| |**Q**uery **F**irmware **R**elease|(% style="text-align:center" %) |(% style="text-align:center" %)QFR|(% style="text-align:center" %) | | |
	119	+| |[[**Reset**>>||anchor="HReset"]]|(% style="text-align:center" %)RESET|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |Soft reset
	120	+| |[[**Default** Configuration>>||anchor="HDefault26confirm"]]|(% style="text-align:center" %)DEFAULT|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |Revert to firmware default values
	121	+| |[[Firmware **Update** Mode>>||anchor="HUpdate26confirm"]]|(% style="text-align:center" %)UPDATE|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |Update firmware
	122	+| |[[**Confirm** Changes>>||anchor="HConfirm"]]|(% style="text-align:center" %)CONFIRM|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |Confirm the action for some commands
	123	+| |[[**ID** Number >>||anchor="HIDNumber28ID29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QID|(% style="text-align:center" %)CID|(% style="text-align:center" %)0|(% style="text-align:center" %) |Reset required after change. ID 254 is a "broadcast" which all servos respond to.
	124	+| |[[**E**nable CAN **T**erminal>>doc:||anchor="HEnableCANTerminalResistor28ET29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QET|(% style="text-align:center" %)CET|(% style="text-align:center" %)1|(% style="text-align:center" %)0 or 1|0: Disable  1: Enable
	125	+| |[[**U**SB **C**onnection Status>>||anchor="HUSBConnectionStatus28UC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QUC|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)0 or 1|0: Not connected 1: Connected
131	131
132	132	|(% colspan="8" style="color:orange; font-size:18px" %)[[**Motion**>>||anchor="HMotion"]]
133	133	|(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
134		-| |[[Position in **D**egrees>>||anchor="HPositioninDegrees28D29"]]|(% style="text-align:center" %)D|(% style="text-align:center" %)QD/QDT|(% style="text-align:center" %) | |1/100°|
135		-| |[[**M**ove in **D**egrees (relative)>>||anchor="H28Relative29MoveinDegrees28MD29"]]|(% style="text-align:center" %)MD|(% style="text-align:center" %) |(% style="text-align:center" %) | |1/100°|
136		-| |[[**W**heel mode in **D**egrees>>||anchor="HWheelModeinDegrees28WD29"]]|(% style="text-align:center" %)WD|(% style="text-align:center" %)QWD/QVT|(% style="text-align:center" %) | |°/s|A.K.A. "Speed mode" or "Continuous rotation"
	129	+| |[[Position in **D**egrees>>||anchor="HPositioninDegrees28D29"]]|(% style="text-align:center" %)D|(% style="text-align:center" %)QD|(% style="text-align:center" %) | |0.01°|
	130	+| |[[**M**ove in **D**egrees (relative)>>||anchor="H28Relative29MoveinDegrees28MD29"]]|(% style="text-align:center" %)MD|(% style="text-align:center" %) |(% style="text-align:center" %) | |0.01°|
	131	+| |[[**W**heel mode in **D**egrees>>||anchor="HWheelModeinDegrees28WD29"]]|(% style="text-align:center" %)WD|(% style="text-align:center" %)QWD|(% style="text-align:center" %) | |0.01°/s|A.K.A. "Speed mode" or "Continuous rotation"
137	137	| |[[**W**heel mode in **R**PM>>||anchor="HWheelModeinRPM28WR29"]]|(% style="text-align:center" %)WR|(% style="text-align:center" %)QWR|(% style="text-align:center" %) | |RPM|A.K.A. "Speed mode" or "Continuous rotation"
138	138	| |[[**Q**uery Motion Status>>||anchor="HQueryStatus28Q29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)Q|(% style="text-align:center" %) | |1 to 8 integer|See command description for details
	134	+| |[[**Q**uery **M**otion **T**ime>>doc:||anchor="HMotionTime"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QMT|(% style="text-align:center" %) | |0.01s|
	135	+| |[[**Q**uery **C**urrent **S**peed>>doc:||anchor="HCurrentSpeed"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QCS|(% style="text-align:center" %) | |0.01°/s|
139	139	| |[[**L**imp>>||anchor="HLimp28L29"]]|(% style="text-align:center" %)L|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Removes power from stepper coils
140		-| |[[**H**alt & Hold>>||anchor="HHalt26Hold28H29"]]|(% style="text-align:center" %)H|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Stops (halts) motion profile and holds last position
	137	+| |[[**H**alt & Hold>>doc:||anchor="HHalt26Hold28H29"]]|(% style="text-align:center" %)H|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Stops (halts) motion and holds last position
141	141
142	142	|(% colspan="8" style="color:orange; font-size:18px" %)[[**Motion Setup**>>||anchor="HMotionSetup"]]
143	143	|(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
144		-| |[[**E**nable **M**otion Profile>>||anchor="HEnableMotionProfile28EM29"]]|(% style="text-align:center" %)EM|(% style="text-align:center" %)QEM|(% style="text-align:center" %)CEM|1| |EM1: trapezoidal motion profile / EM0: no motion profile
145		-| |[[**F**ilter **P**osition **C**ount>>||anchor="HFilterPositionCount28FPC29"]]|(% style="text-align:center" %)FPC|(% style="text-align:center" %)QFPC|(% style="text-align:center" %)CFPC|5| |Affects motion only when motion profile is disabled (EM0)
146		-| |[[**O**rigin Offset>>||anchor="HOriginOffset28O29"]]|(% style="text-align:center" %)O|(% style="text-align:center" %)QO|(% style="text-align:center" %)CO|0|1/10°|
147		-| |[[**A**ngular **R**ange>>||anchor="HAngularRange28AR29"]]|(% style="text-align:center" %)AR|(% style="text-align:center" %)QAR|(% style="text-align:center" %)CAR|1800|1/10°|
148		-| |[[**A**ngular **S**tiffness>>||anchor="HAngularStiffness28AS29"]]|(% style="text-align:center" %)AS|(% style="text-align:center" %)QAS|(% style="text-align:center" %)CAS|0|-4 to +4 integer|Suggested values are between 0 to +4
149		-| |[[**A**ngular **H**olding Stiffness>>||anchor="HAngularHoldingStiffness28AH29"]]|(% style="text-align:center" %)AH|(% style="text-align:center" %)QAH|(% style="text-align:center" %)CAH|4|-10 to +10 integer|
150		-| |[[**A**ngular **A**cceleration>>||anchor="HAngularAcceleration28AA29"]]|(% style="text-align:center" %)AA|(% style="text-align:center" %)QAA|(% style="text-align:center" %)CAA|100|°/s^^2^^|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).
151		-| |[[**A**ngular **D**eceleration>>||anchor="HAngularDeceleration28AD29"]]|(% style="text-align:center" %)AD|(% style="text-align:center" %)QAD|(% style="text-align:center" %)CAD|100|°/s^^2^^|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).
152		-| |[[**G**yre Direction>>||anchor="HGyreDirection28G29"]]|(% style="text-align:center" %)G|(% style="text-align:center" %)QG|(% style="text-align:center" %)CG|1| |Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise)
153		-| |[[**F**irst Position (**D**eg)>>||anchor="HFirstPosition"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QFD|(% style="text-align:center" %)CFD|No value|1/10°|Reset required after change.
154		-| |[[**M**aximum **M**otor **D**uty>>||anchor="HMaximumMotorDuty28MMD29"]]|(% style="text-align:center" %)MMD|(% style="text-align:center" %)QMMD|(% style="text-align:center" %) |1023|255 to 1023 integer|
155		-| |[[Maximum **S**peed in **D**egrees>>||anchor="HMaximumSpeedinDegrees28SD29"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %)QSD|(% style="text-align:center" %)CSD|Max|0.1°/s|SD overwrites SR / CSD overwrites CSR and vice-versa
156		-| |[[Maximum **S**peed in **R**PM>>||anchor="HMaximumSpeedinRPM28SR29"]]|(% style="text-align:center" %)SR|(% style="text-align:center" %)QSR|(% style="text-align:center" %)CSR|Max|RPM|SD overwrites SR / CSD overwrites CSR and vice-versa
	141	+| |[[**O**rigin Offset>>||anchor="HOriginOffset28O29"]]|(% style="text-align:center" %)O|(% style="text-align:center" %)QO|(% style="text-align:center" %)CO|(% style="text-align:center" %)0|(% style="text-align:center" %)0.01°|
	142	+| |[[**A**ngular **R**ange>>||anchor="HAngularRange28AR29"]]|(% style="text-align:center" %)AR|(% style="text-align:center" %)QAR|(% style="text-align:center" %)CAR|(% style="text-align:center" %)36000|(% style="text-align:center" %)0.01°|
	143	+| |[[**A**ngular **A**cceleration>>||anchor="HAngularAcceleration28AA29"]]|(% style="text-align:center" %)AA|(% style="text-align:center" %)QAA|(% style="text-align:center" %)CAA|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°/s^2|
	144	+| |[[**A**ngular **D**eceleration>>||anchor="HAngularDeceleration28AD29"]]|(% style="text-align:center" %)AD|(% style="text-align:center" %)QAD|(% style="text-align:center" %)CAD|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°/s^2|
	145	+| |[[**G**yre Direction>>||anchor="HGyreDirection28G29"]]|(% style="text-align:center" %)G|(% style="text-align:center" %)QG|(% style="text-align:center" %)CG|(% style="text-align:center" %)1|(% style="text-align:center" %)1 or -1|Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise)
	146	+| |[[**F**irst Position (**D**eg)>>||anchor="HFirstPosition"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QFD|(% style="text-align:center" %)CFD|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°|Reset required after change.
	147	+| |[[Maximum **S**peed in **D**egrees>>||anchor="HMaximumSpeedinDegrees28SD29"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %)QSD|(% style="text-align:center" %)CSD|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°/s|SD / CSD overwrites SR / CSR
	148	+| |[[Maximum **S**peed in **R**PM>>||anchor="HMaximumSpeedinRPM28SR29"]]|(% style="text-align:center" %)SR|(% style="text-align:center" %)QSR|(% style="text-align:center" %)CSR|(% style="text-align:center" %) |(% style="text-align:center" %)RPM|SR / CSR overwrites SD / CSD
157	157
158	158	|(% colspan="8" style="color:orange; font-size:18px" %)[[**Modifiers**>>||anchor="HModifiers"]]
159	159	|(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Modifier**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
160		-| |[[**S**peed in **D**egrees>>||anchor="HSpeed28S2CSD29modifier"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %) |(% style="text-align:center" %) | |1°/s|For D and MD action commands
	152	+| |[[**S**peed in **D**egrees>>doc:||anchor="HSpeed28SD29modifier"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %) |(% style="text-align:center" %) | |0.01°/s|For D and MD action commands
161	161	| |[[**T**imed move>>||anchor="HTimedmove28T29modifier"]]|(% style="text-align:center" %)T|(% style="text-align:center" %) |(% style="text-align:center" %) | |ms|Time associated with D, MD commands
162	162
163	163	|(% colspan="8" style="color:orange; font-size:18px" %)[[**Telemetry**>>||anchor="HTelemetry"]]
164	164	|(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
165		-| |[[**Q**uery PCB **T**emperature>>||anchor="HQueryTemperature28QT29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QT|(% style="text-align:center" %) | |°C|
166		-| |[[**Q**uery **C**urrent>>||anchor="HQueryCurrent28QC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QC|(% style="text-align:center" %) | |mA|Nominal RMS value to stepper motor driver IC.
167		-| |[[**Q**uery **M**odel **S**tring>>||anchor="HQueryModelString28QMS29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QMS|(% style="text-align:center" %) | | |Returns the model of servo (ex: LSS-ST1, LSS-HS1, LSS-HT1)
168		-| |[[**Q**uery **F**irmware Version>>||anchor="HQueryFirmware28QF29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) | | |
169		-| |[[**Q**uery Serial **N**umber>>||anchor="HQuerySerialNumber28QN29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QN|(% style="text-align:center" %) | | |Returns the unique serial number for the servo
170		-| |**Q**uery **T**emperature **P**robe|(% style="text-align:center" %) |(% style="text-align:center" %)QTP|(% style="text-align:center" %) | | |Queries temperature probe fixed to stepper motor
171		-| |**Q**uery **T**emp of **C**ontroller|(% style="text-align:center" %) |(% style="text-align:center" %)QTCW, QTCE|(% style="text-align:center" %) | | |(((
172		-QTCW: Queries the temperature status of the motor controller (pre-warning)
173		-
174		-QTCE: Queries the temperature status of the motor controller (over-temp error)
	157	+| |[[**Q**uery PCB **T**emperature>>doc:||anchor="HQueryPCBTemperature28QT29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QT|(% style="text-align:center" %) | |0.1°C|
	158	+| |[[**Q**uery **C**urrent>>doc:||anchor="HQueryCurrent28QC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QC|(% style="text-align:center" %) | |mA|Nominal RMS value to stepper motor driver IC.
	159	+| |[[**Q**uery **M**odel **S**tring>>doc:||anchor="HQueryModelString28QMS29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QMS|(% style="text-align:center" %) | | |Returns the model of servo (ex: LSS-ST1, LSS-HS1, LSS-HT1)
	160	+| |[[**Q**uery **F**irmware Version>>doc:||anchor="HQueryFirmware28QF29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) | | |
	161	+| |[[**Q**uery Serial **N**umber>>doc:||anchor="HQuerySerialNumber28QN29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QN|(% style="text-align:center" %) | | |Returns the unique serial number for the servo
	162	+| |[[**Q**uery **T**emperature **P**robe>>doc:||anchor="HQueryTemperatureProbe28QTP29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTP|(% style="text-align:center" %) | |0.1°C|Queries temperature probe fixed to the stepper motor
	163	+| |[[**Q**uery **T**emp of **M**CU>>doc:||anchor="HQueryTemperatureMCU28QTM29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTM|(% style="text-align:center" %) | |0.1°C|
	164	+| |[[**Q**uery **T**emp of **C**ontroller **E**rror>>doc:||anchor="HQueryTempControllerError28QTCE29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTCE|(% style="text-align:center" %) | | |(((
	165	+Temperature error status of the motor controller (over-temp error)
175	175	)))
176		-| |**Q**uery **C**urrent **S**peed |(% style="text-align:center" %) |(% style="text-align:center" %)QCS|(% style="text-align:center" %) | | |Queries the motor controller's calculated speed
177		-| |**Q**uery **I**MU Linear **X**|(% style="text-align:center" %) |(% style="text-align:center" %)QIX|(% style="text-align:center" %) | |mm/s^2|
178		-| |**Q**uery **I**MU Linear **Y**|(% style="text-align:center" %) |(% style="text-align:center" %)QIY|(% style="text-align:center" %) | |mm/s^2|
179		-| |**Q**uery **I**MU Linear **Z**|(% style="text-align:center" %) |(% style="text-align:center" %)QIZ|(% style="text-align:center" %) | |mm/s^2|
180		-| |**Q**uery **I**MU Angular Accel **α** |(% style="text-align:center" %) |(% style="text-align:center" %)QIA|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel α (Alpha)
181		-| |**Q**uery **I**MU Angular Accel **β**|(% style="text-align:center" %) |(% style="text-align:center" %)QIB|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel β (Beta)
182		-| |**Q**uery **I**MU Angular Accel **γ**|(% style="text-align:center" %) |(% style="text-align:center" %)QIC / QIG|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel γ (Gamma)
	167	+| |[[**Q**uery **T**emp of **C**ontroller **W**arning>>doc:||anchor="HQueryTempControllerWarning28QTCW29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTCW|(% style="text-align:center" %) | | |Temperature error status of the motor controller (pre-warning)
	168	+| |[[**Q**uery **E**rror **F**lag>>doc:||anchor="HQueryErrorFlag28QEF29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QEF|(% style="text-align:center" %) | | |
	169	+| |[[**Q**uery **I**MU Linear **X**>>doc:||anchor="HQueryIMULinear28QIXQIYQIZ29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIX|(% style="text-align:center" %) | |mm/s^2|
	170	+| |[[**Q**uery **I**MU Linear **Y**>>doc:||anchor="HQueryIMULinear28QIXQIYQIZ29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIY|(% style="text-align:center" %) | |mm/s^2|
	171	+| |[[**Q**uery **I**MU Linear **Z**>>doc:||anchor="HQueryIMULinear28QIXQIYQIZ29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIZ|(% style="text-align:center" %) | |mm/s^2|
	172	+| |[[**Q**uery **I**MU Angular Accel **α** >>doc:||anchor="HQueryIMUAngular28QIAQIBQIG29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIA|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel α (Alpha)
	173	+| |[[**Q**uery **I**MU Angular Accel **β**>>doc:||anchor="HQueryIMUAngular28QIAQIBQIG29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIB|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel β (Beta)
	174	+| |[[**Q**uery **I**MU Angular Accel **γ**>>doc:||anchor="HQueryIMUAngular28QIAQIBQIG29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIG|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel γ (Gamma)
183	183
184	184	|(% colspan="8" style="color:orange; font-size:18px" %)[[**RGB LED**>>||anchor="HRGBLED"]]
185	185	|(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
186	186	| |[[**LED** Color>>||anchor="HLEDColor28LED29"]]|(% style="text-align:center" %)LED|(% style="text-align:center" %)QLED|(% style="text-align:center" %)CLED| |0 to 7 integer|0=Off; 1=Red; 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White
187		-| |[[**C**onfigure **L**ED **B**linking>>||anchor="HConfigureLEDBlinking28CLB29"]]|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)CLB| |0 to 63 integer|Reset required after change. See command for details.
188	188
189	189	= (% style="color:inherit; font-family:inherit" %)Details(%%) =
190	190
191	191	== (% style="color:inherit; font-family:inherit" %)Communication Setup(%%) ==
192	192
193		-====== (% style="color:inherit; font-family:inherit" %)__Reset__(%%) ======
	184	+|(% colspan="2" %)(((
	185	+====== __Reset__ ======
	186	+)))
	187	+| |(((
	188	+Reset (**RESET**)
194	194
195		-(% style="color:inherit; font-family:inherit" %)Ex: #5RESET<cr>
196		-This command does a "soft reset" and reverts all commands to those stored in EEPROM (i.e. configuration commands). Note: after a RESET command is received, the LSS will restart and perform initilization again, making it unavailable on the bus for a bit. See Session, note #2 for more details.
	190	+Ex: #5RESET<cr>
197	197
198		-====== (% style="color:inherit; font-family:inherit" %)__Default & confirm__(%%) ======
	192	+This command does a "soft reset" and reverts all commands to those stored in EEPROM (i.e. configuration commands). Note: after a RESET command is received, the LSS will restart and perform initilization again, making it unavailable on the bus for a bit. See Session, note #2 for more details.
	193	+)))
199	199
	195	+|(% colspan="2" %)(((
	196	+====== (% style="color:inherit; font-family:inherit" %)__Default__(%%) ======
	197	+)))
	198	+|(% style="width:30px" %) |(((
	199	+(% style="color:inherit; font-family:inherit" %)Default (**DEFAULT**)
	200	+
200	200	(% style="color:inherit; font-family:inherit" %)Ex: #5DEFAULT<cr>
201	201
202	202	(% style="color:inherit; font-family:inherit" %)This command sets in motion the reset of all values to the default values included with the version of the firmware installed on that servo. The servo then waits for the CONFIRM command. Any other command received will cause the servo to exit the DEFAULT function.
...	...	@@ -206,8 +206,13 @@
206	206	(% style="color:inherit; font-family:inherit" %)Since it it not common to have to restore all configurations, a confirmation command is needed after a firmware command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will exit the command.
207	207
208	208	(% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
	210	+)))
209	209
210		-====== (% style="color:inherit; font-family:inherit" %)__Update & confirm__(%%) ======
	212	+|(% colspan="2" %)(((
	213	+====== (% style="color:inherit; font-family:inherit" %)__Update__(%%) ======
	214	+)))
	215	+|(% style="width:30px" %) |(((
	216	+(% style="color:inherit; font-family:inherit" %)Update (**UPDATE**)
211	211
212	212	(% style="color:inherit; font-family:inherit" %)Ex: #5UPDATE<cr>
213	213
...	...	@@ -218,16 +218,43 @@
218	218	(% style="color:inherit; font-family:inherit" %)Since it it not common to have to update firmware, a confirmation command is needed after an UPDATE command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will leave the firmware action.
219	219
220	220	(% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
	227	+)))
221	221
	229	+|(% colspan="2" %)(((
222	222	====== (% style="color:inherit; font-family:inherit" %)__Confirm__(%%) ======
	231	+)))
	232	+|(% style="width:30px" %) |(((
	233	+(% style="color:inherit; font-family:inherit" %)Confirm (**CONFIRM**)
223	223
224	224	(% style="color:inherit; font-family:inherit" %)Ex: #5CONFIRM<cr>
225	225
226	226	(% style="color:inherit; font-family:inherit" %)This command is used to confirm changes after a Default or Update command.
227	227	Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
	239	+)))
228	228
229		-====== (% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor (**ET**)__(%%) ======
	241	+|(% colspan="2" %)(((
	242	+====== (% style="color:inherit; font-family:inherit" %)__ID Number__(%%) ======
	243	+)))
	244	+|(% style="width:30px" %) |(((
	245	+This assigns ID #5 to the servo previously assigned to ID 0
230	230
	247	+(% style="color:inherit; font-family:inherit" %)Configure ID Number (**CID**)
	248	+
	249	+(% style="color:inherit; font-family:inherit" %)Ex: #0CID5<cr>
	250	+
	251	+The default ID is 0, so this sets the servo to ID 5.
	252	+
	253	+Query ID Number (**QID**)
	254	+
	255	+Ex: #254QID<cr> might return *254QID5<cr>
	256	+
	257	+In this case, the broadcast ID is used to ensure the servo connected will reply with the ID. This can be used in case the ID assigned to a servo is forgotten.
	258	+)))
	259	+
	260	+|(% colspan="2" %)(((
	261	+====== (% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor__(%%) ======
	262	+)))
	263	+|(% style="width:30px" %) |(((
231	231	Query Enable CAN Terminal Resistor (**QET**)
232	232
233	233	Ex: #5QET<cr> might return *QET0<cr>
...	...	@@ -239,16 +239,24 @@
239	239	(% style="color:inherit; font-family:inherit" %)Ex: #5CET1<cr>
240	240
241	241	(% style="color:inherit; font-family:inherit" %)This commands sets servo with ID 5 as being the last in the CAN Bus. The last servo in a CAN bus must be configured this way.
	275	+)))
242	242
243		-====== __USB Connection Status (**UC**)__ ======
244		-
	277	+|(% colspan="2" %)(((
	278	+====== __USB Connection Status__ ======
	279	+)))
	280	+|(% style="width:30px" %) |(((
245	245	Query USB Connection Status (**QUC**)
246	246
247	247	Ex: #5QUC<cr> might return *5QUC1<cr> meaning the servo is connected via USB
	284	+)))
248	248
249	249	== Motion ==
250	250
251		-====== __Position in Degrees (**D**)__ ======
	288	+|(% colspan="2" %)(((
	289	+====== __Position in Degrees__ ======
	290	+)))
	291	+|(% style="width:30px" %) |(((
	292	+Position in Degrees (**D**)
252	252
253	253	Example: #5D1456<cr>
254	254
...	...	@@ -267,16 +267,28 @@
267	267	Ex: #5QDT<cr> might return *5QDT6783<cr>
268	268
269	269	The query target position command returns the target virtual position during and after an action which results in a rotation of the servo horn. In the example above, the servo is rotating to a virtual position of 678.3 degrees. Should the servo not have a target position or be in wheel mode, it will respond with the last target position used.
	311	+)))
270	270
271		-====== __(Relative) Move in Degrees (**MD**)__ ======
	313	+|(% colspan="2" %)(((
	314	+====== __Relative Move in Degrees__ ======
	315	+)))
	316	+|(% style="width:30px" %) |(((
	317	+(% class="wikigeneratedid" %)
	318	+Move in Degrees (**MD**)
272	272
	320	+(% class="wikigeneratedid" %)
	321	+Example: #5M1500<cr>
273	273
274		-Example: #5MD123<cr>
	323	+(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
	324	+The relative move in PWM command causes the servo to read its current position and move by the specified number of PWM signal. For example if the servo is set to rotate CW (default) and an M command of 1500 is sent to the servo, it will cause the servo to rotate clockwise by 90 degrees. Negative PWM value would cause the servo to rotate in the opposite configured direction.
	325	+)))
275	275
276		-The relative move command causes the servo to read its current position and move the specified number of tenths of degrees in the corresponding position. For example if the servo is set to rotate CW (default) and an MD command of 123 is sent to the servo, it will cause the servo to rotate clockwise by 12.3 degrees. Negative commands would cause the servo to rotate in the opposite configured direction.
	327	+|(% colspan="2" %)(((
	328	+====== __Wheel Mode in Degrees__ ======
	329	+)))
	330	+|(% style="width:30px" %) |(((
	331	+Wheel mode in Degrees (**WD**)
277	277
278		-====== __Wheel Mode in Degrees (**WD**)__ ======
279		-
280	280	Ex: #5WD90<cr>
281	281
282	282	This command sets the servo to wheel mode where it will rotate in the desired direction at the selected speed. The example above would have the servo rotate at 90.0 degrees per second clockwise (assuming factory default configurations).
...	...	@@ -286,8 +286,13 @@
286	286	Ex: #5QWD<cr> might return *5QWD90<cr>
287	287
288	288	The servo replies with the angular speed in degrees per second. A negative sign would indicate the opposite direction (for factory default a negative value would be counter clockwise).
	342	+)))
289	289
290		-====== __Wheel Mode in RPM (**WR**)__ ======
	344	+|(% colspan="2" %)(((
	345	+====== __Wheel Mode in RPM__ ======
	346	+)))
	347	+|(% style="width:30px" %) |(((
	348	+Wheel moed in RPM (**WR**)
291	291
292	292	Ex: #5WR40<cr>
293	293
...	...	@@ -298,17 +298,14 @@
298	298	Ex: #5QWR<cr> might return *5QWR40<cr>
299	299
300	300	The servo replies with the angular speed in rpm. A negative sign would indicate the opposite direction (for factory default a negative value would be counter clockwise).
	359	+)))
301	301
302		-====== __(Relative) Move in Degrees (**MD**)__ ======
	361	+|(% colspan="2" %)(((
	362	+====== __Status__ ======
	363	+)))
	364	+|(% style="width:30px" %) |(((
	365	+Query Status (**Q**)
303	303
304		-(% class="wikigeneratedid" id="HExample:235M15003Ccr3E" %)
305		-Example: #5M1500<cr>
306		-
307		-(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
308		-The relative move in PWM command causes the servo to read its current position and move by the specified number of PWM signal. For example if the servo is set to rotate CW (default) and an M command of 1500 is sent to the servo, it will cause the servo to rotate clockwise by 90 degrees. Negative PWM value would cause the servo to rotate in the opposite configured direction.
309		-
310		-====== __Query Status (**Q**)__ ======
311		-
312	312	The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
313	313
314	314	Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
...	...	@@ -320,7 +320,7 @@
320	320	| |ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
321	321	| |ex: *5Q4<cr>|4: Traveling|Moving at a stable speed
322	322	| |ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position.
323		-| |ex: *5Q6<cr>|6: Holding|Keeping current position (in EM0 mode, return will nornally be holding)
	378	+| |ex: *5Q6<cr>|6: Holding|Keeping current position (in EM0 mode, return will normally be holding)
324	324	| |ex: *5Q7<cr>|7: Outside limits|{More details coming soon}
325	325	| |ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting
326	326	| |ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
...	...	@@ -337,31 +337,54 @@
337	337	| |ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long
338	338	| |ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source
339	339	| |ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
	395	+)))
340	340
341		-====== __Limp (**L**)__ ======
	397	+|(% colspan="2" %)(((
	398	+====== __Motion Time__ ======
	399	+)))
	400	+|(% style="width:30px" %) |(((
	401	+Query Motion Time (**QMT**)
	402	+)))
342	342
	404	+|(% colspan="2" %)(((
	405	+====== __Current Speed__ ======
	406	+)))
	407	+|(% style="width:30px" %) |(((
	408	+Query Current Speed (**QCS**)
	409	+)))
	410	+
	411	+|(% colspan="2" %)(((
	412	+====== __Limp__ ======
	413	+)))
	414	+|(% style="width:30px" %) |(((
343	343	Example: #5L<cr>
344	344
345	345	This action causes the servo to go "limp". The microcontroller will still be powered, but the motor will not. As an emergency safety feature, should the robot not be doing what it is supposed to or risks damage, use the broadcast ID to set all servos limp #254L<cr>.
	418	+)))
346	346
347		-====== __Halt & Hold (**H**)__ ======
348		-
	420	+|(% colspan="2" %)(((
	421	+====== __Halt & Hold__ ======
	422	+)))
	423	+|(% style="width:30px" %) |(((
349	349	Example: #5H<cr>
350	350
351	351	This command causes the servo to stop immediately and hold that angular position. It overrides whatever the servo might be doing at the time the command is received (accelerating, travelling, deccelerating, etc.)
	427	+)))
352	352
353	353	== Motion Setup ==
354	354
355		-====== __Origin Offset (**O**)__ ======
356		-
	431	+|(% colspan="2" %)(((
	432	+====== __Origin Offset__ ======
	433	+)))
	434	+|(% style="width:30px" %) |(((
357	357	Example: #5O2400<cr>This command allows you to change the origin of the servo in relation to the factory zero position for that session. As with all action commands, the setting will be lost upon servo reset / power cycle. Origin offset commands are not cumulative and always relate to factory zero. In the first image, the origin at factory offset '0' (centered).
358	358
359		-[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-default.jpg||alt="LSS-servo-default.jpg"]]
	437	+[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-default.jpg||alt="LSS-servo-default.jpg"]]
360	360
361	361
362	362	In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:
363	363
364		-[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-origin.jpg||alt="LSS-servo-origin.jpg"]]
	442	+[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-origin.jpg||alt="LSS-servo-origin.jpg"]]
365	365
366	366
367	367	Origin Offset Query (**QO**)
...	...	@@ -375,23 +375,26 @@
375	375	Example: #5CO-24<cr>
376	376
377	377	This command allows you to change the origin of the servo in relation to the factory zero position in EEPROM. The setting will be saved upon servo reset / power cycle. Origin offset configuration commands are not cumulative and always relate to factory zero. The new origin is also used in RC mode. In the example, the new origin will be at -2.4 degrees from the factory zero.
	456	+)))
378	378
379		-====== __Angular Range (**AR**)__ ======
380		-
	458	+|(% colspan="2" %)(((
	459	+====== __Angular Range__ ======
	460	+)))
	461	+|(% style="width:30px" %) |(((
381	381	Example: #5AR1800<cr>
382	382
383	383	This command allows you to temporarily change the total angular range of the servo in tenths of degrees. This applies to the Position in Pulse (P) command and RC mode. The default for (P) and RC mode is 1800 (180.0 degrees total, or ±90.0 degrees). The image below shows a standard -180.0 to +180.0 range, with no offset:
384	384
385		-[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-default.jpg||alt="LSS-servo-default.jpg"]]
	466	+[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-default.jpg||alt="LSS-servo-default.jpg"]]
386	386
387	387	Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
388	388
389		-[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-ar.jpg||alt="LSS-servo-ar.jpg"]]
	470	+[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-ar.jpg||alt="LSS-servo-ar.jpg"]]
390	390
391	391
392	392	Finally, the angular range action command (ex. #5AR1800<cr>) and origin offset action command (ex. #5O-1200<cr>) are used to move both the center and limit the angular range:
393	393
394		-[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-ar-o-1.jpg||alt="LSS-servo-ar-o-1.jpg"]]
	475	+[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-ar-o-1.jpg||alt="LSS-servo-ar-o-1.jpg"]]
395	395
396	396
397	397	Query Angular Range (**QAR**)
...	...	@@ -401,9 +401,12 @@
401	401	Configure Angular Range (**CAR**)
402	402
403	403	This command allows you to change the total angular range of the servo in tenths of degrees in EEPROM. The setting will be saved upon servo reset / power cycle.
	485	+)))
404	404
405		-====== __Angular Acceleration (**AA**)__ ======
406		-
	487	+|(% colspan="2" %)(((
	488	+====== __Angular Acceleration__ ======
	489	+)))
	490	+|(% style="width:30px" %) |(((
407	407	The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
408	408
409	409	Ex: #5AA30<cr>
...	...	@@ -421,9 +421,12 @@
421	421	Ex: #5CAA30<cr>
422	422
423	423	This writes the angular acceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
	508	+)))
424	424
425		-====== __Angular Deceleration (**AD**)__ ======
426		-
	510	+|(% colspan="2" %)(((
	511	+====== __Angular Deceleration__ ======
	512	+)))
	513	+|(% style="width:30px" %) |(((
427	427	The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
428	428
429	429	Ex: #5AD30<cr>
...	...	@@ -441,9 +441,12 @@
441	441	Ex: #5CAD30<cr>
442	442
443	443	This writes the angular deceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
	531	+)))
444	444
445		-====== __Gyre Direction (**G**)__ ======
446		-
	533	+|(% colspan="2" %)(((
	534	+====== __Gyre Direction__ ======
	535	+)))
	536	+|(% style="width:30px" %) |(((
447	447	"Gyre" is defined as a circular course or motion. The effect of changing the gyre direction is as if you were to use a mirror image of a circle. By default: CW = 1; CCW = -1.
448	448
449	449	Ex: #5G-1<cr>
...	...	@@ -450,8 +450,10 @@
450	450
451	451	This command will cause servo #5's positions to be inverted, effectively causing the servo to rotate in the opposite direction given the same command. For example in a 2WD robot, servos are often physically installed back to back, therefore setting one of the servos to a negative gyration, the same wheel command (ex WR30) to both servos will cause the robot to move forward or backward rather than rotate.
452	452
453		-Query Gyre Direction (**QG**)Ex: #5QG<cr> might return *5QG-1<cr>
	543	+Query Gyre Direction (**QG**)
454	454
	545	+Ex: #5QG<cr> might return *5QG-1<cr>
	546	+
455	455	The value returned above means the servo is in a counter-clockwise gyration. Sending a #5WR30 command will rotate the servo in a counter-clockwise gyration at 30 RPM.
456	456
457	457	Configure Gyre (**CG**)
...	...	@@ -459,15 +459,43 @@
459	459	Ex: #5CG-1<cr>
460	460
461	461	This changes the gyre direction as described above and also writes to EEPROM.
	554	+)))
462	462
	556	+|(% colspan="2" %)(((
463	463	====== __First Position__ ======
	558	+)))
	559	+|(% style="width:30px" %) |(((
	560	+In certain cases, a user might want to have the servo move to a specific angle upon power up; we refer to this as "first position" (a.k.a. "initial position"). The factory default has no first position value stored in EEPROM and therefore upon power up, the servo remains limp until a position (or hold command) is assigned.
464	464
465		-In certain cases, a user might want to have the servo move to a specific angle upon power up; we refer to this as "first position" (a.k.a. "initial position"). The factory default has no first position value stored in EEPROM and therefore upon power up, the servo remains limp until a position (or hold command) is assigned. Note that the number should be restricted to -1790 (-179.0 degrees) to +1790 (179.0 degrees) and values beyond this will be changed to 1800.Query First Position in Degrees (**QFD**)Ex: #5QFD<cr> might return *5QFD900<cr>The reply above indicates that servo with ID 5 has a first position of 90.0 degrees. If there is no first position value stored, the reply will be DIS.Configure First Position in Degrees (**CFD**)Ex: #5CFD900<cr>This configuration command means the servo, when set to smart mode, will immediately move to 90.0 degrees upon power up. Sending a CFD command without a number (Ex. #5CFD<cr>) results in the servo remaining limp upon power up. In order to remove the first position, send no value, ex: #5CFD<cr>
	562	+Note that the number should be restricted to -1790 (-179.0 degrees) to +1790 (179.0 degrees) and values beyond this will be changed to 1800.
466	466
467		-====== __Maximum Speed in Degrees (**SD**)__ ======
	564	+Query First Position in Degrees (**QFD**)
468	468
469		-Ex: #5SD1800<cr>This command sets the servo's maximum speed for motion commands in tenths of degrees per second for that session. In the example above, the servo's maximum speed for that session would be set to 180.0 degrees per second. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. The SD action command overrides CSD (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSD as described below. Note that SD and SR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) received is what the servo uses for that session.Query Speed in Degrees (**QSD**)Ex: #5QSD<cr> might return *5QSD1800<cr>By default QSD will return the current session value, which is set to the value of CSD as reset/power cycle and changed whenever an SD/SR command is processed. If #5QSD1<cr> is sent, the configured maximum speed (CSD value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:
	566	+Ex: #5QFD<cr> might return *5QFD900<cr>The reply above indicates that servo with ID 5 has a first position of 90.0 degrees. If there is no first position value stored, the reply will be DIS.
470	470
	568	+Configure First Position in Degrees (**CFD**)
	569	+
	570	+Ex: #5CFD900<cr>
	571	+
	572	+This configuration command means the servo, when set to smart mode, will immediately move to 90.0 degrees upon power up. Sending a CFD command without a number (Ex. #5CFD<cr>) results in the servo remaining limp upon power up. In order to remove the first position, send no value, ex: #5CFD<cr>
	573	+)))
	574	+
	575	+|(% colspan="2" %)(((
	576	+====== __Maximum Speed in Degrees__ ======
	577	+)))
	578	+|(% style="width:30px" %) |(((
	579	+Maximum Speed in Degrees (**SD**)
	580	+
	581	+Ex: #5SD1800<cr>
	582	+
	583	+This command sets the servo's maximum speed for motion commands in tenths of degrees per second for that session. In the example above, the servo's maximum speed for that session would be set to 180.0 degrees per second. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. The SD action command overrides CSD (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSD as described below. Note that SD and SR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) received is what the servo uses for that session.
	584	+
	585	+Query Speed in Degrees (**QSD**)
	586	+
	587	+Ex: #5QSD<cr> might return *5QSD1800<cr>
	588	+
	589	+By default QSD will return the current session value, which is set to the value of CSD as reset/power cycle and changed whenever an SD/SR command is processed. If #5QSD1<cr> is sent, the configured maximum speed (CSD value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:
	590	+
471	471	|**Command sent**|**Returned value (1/10 °)**
472	472	|ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
473	473	|ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
...	...	@@ -474,12 +474,41 @@
474	474	|ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
475	475	|ex: #5QSD3<cr>|Target travel speed
476	476
477		-Configure Speed in Degrees (**CSD**)Ex: #5CSD1800<cr>Using the CSD command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 180.0 degrees per second. When the servo is powered on (or after a reset), the CSD value is used. Note that CSD and CSR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) is what the servo uses for that session.
	597	+Configure Speed in Degrees (**CSD**)
478	478
479		-====== __Maximum Speed in RPM (**SR**)__ ======
	599	+Ex: #5CSD1800<cr>
480	480
481		-Ex: #5SR45<cr>This command sets the servo's maximum speed for motion commands in rpm for that session. In the example above, the servo's maximum speed for that session would be set to 45rpm. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. SR overrides CSR (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSR as described below. Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) received is what the servo uses for that session.Query Speed in RPM (**QSR**)Ex: #5QSR<cr> might return *5QSR45<cr>By default QSR will return the current session value, which is set to the value of CSR as reset/power cycle and changed whenever an SD/SR command is processed. If #5QSR1<cr> is sent, the configured maximum speed (CSR value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:
	601	+Using the CSD command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 180.0 degrees per second. When the servo is powered on (or after a reset), the CSD value is used. Note that CSD and CSR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) is what the servo uses for that session.
	602	+)))
482	482
	604	+|(% colspan="2" %)(((
	605	+====== __Maximum Speed in RPM__ ======
	606	+)))
	607	+|(% style="width:30px" %) |(((
	608	+(% class="wikigeneratedid" %)
	609	+Maximum Speed in RPM (**SR**)
	610	+
	611	+(% class="wikigeneratedid" id="HEx:235SR453Ccr3EThiscommandsetstheservo27smaximumspeedformotioncommandsinrpmforthatsession.Intheexampleabove2Ctheservo27smaximumspeedforthatsessionwouldbesetto45rpm.Theservo27smaximumspeedcannotbesethigherthanitsphysicallimitatagivenvoltage.SRoverridesCSR28describedbelow29forthatsession.Uponresetorpowercycle2CtheservorevertstothevalueassociatedwithCSRasdescribedbelow.NotethatSD28describedabove29andSRareeffectivelythesame2Cbutallowtheusertospecifythespeedineitherunit.Thelastcommand28eitherSRorSD29receivediswhattheservousesforthatsession.QuerySpeedinRPM28QSR29Ex:235QSR3Ccr3Emightreturn2A5QSR453Ccr3EBydefaultQSRwillreturnthecurrentsessionvalue2CwhichissettothevalueofCSRasreset2FpowercycleandchangedwheneveranSD2FSRcommandisprocessed.If235QSR13Ccr3Eissent2Ctheconfiguredmaximumspeed28CSRvalue29willbereturnedinstead.Youcanalsoquerythecurrentspeedusing22222andthecurrenttargettravelspeedusing22322.Seethetablebelowforanexample:" %)
	612	+Ex: #5SR45<cr>
	613	+
	614	+(% class="wikigeneratedid" %)
	615	+This command sets the servo's maximum speed for motion commands in rpm for that session. In the example above, the servo's maximum speed for that session would be set to 45rpm. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. SR overrides CSR (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSR as described below.
	616	+
	617	+(% class="wikigeneratedid" %)
	618	+Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit.
	619	+
	620	+(% class="wikigeneratedid" %)
	621	+The last command (either SR or SD) received is what the servo uses for that session.
	622	+
	623	+(% class="wikigeneratedid" %)
	624	+Query Speed in RPM (**QSR**)
	625	+
	626	+(% class="wikigeneratedid" %)
	627	+Ex: #5QSR<cr> might return *5QSR45<cr>
	628	+
	629	+(% class="wikigeneratedid" %)
	630	+By default QSR will return the current session value, which is set to the value of CSR as reset/power cycle and changed whenever an SD/SR command is processed. If #5QSR1<cr> is sent, the configured maximum speed (CSR value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:
	631	+
483	483	|**Command sent**|**Returned value (1/10 °)**
484	484	|ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
485	485	|ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
...	...	@@ -486,13 +486,23 @@
486	486	|ex: #5QSR2<cr>|Instantaneous speed (same as QWD)
487	487	|ex: #5QSR3<cr>|Target travel speed
488	488
489		-Configure Speed in RPM (**CSR**)Ex: #5CSR45<cr>Using the CSR command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 45rpm. When the servo is powered on (or after a reset), the CSR value is used. Note that CSD and CSR are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) received is what the servo uses for that session.
	638	+Configure Speed in RPM (**CSR**)
490	490
	640	+Ex: #5CSR45<cr>
	641	+
	642	+Using the CSR command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 45rpm. When the servo is powered on (or after a reset), the CSR value is used. Note that CSD and CSR are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) received is what the servo uses for that session.
	643	+)))
	644	+
491	491	== Modifiers ==
492	492
493		-====== __Speed (**SD**) modifier__ ======
	647	+|(% colspan="2" %)(((
	648	+====== __Speed __ ======
	649	+)))
	650	+|(% style="width:30px" %) |(((
	651	+(% class="wikigeneratedid" %)
	652	+Speed in Degrees (**SD**)
494	494
495		-(% class="wikigeneratedid" id="HTimedmove28T29modifier" %)
	654	+(% class="wikigeneratedid" id="HExample:235D0SD1803Ccr3E" %)
496	496	Example: #5D0SD180<cr>
497	497
498	498	(% class="wikigeneratedid" %)
...	...	@@ -506,8 +506,13 @@
506	506
507	507	(% class="wikigeneratedid" %)
508	508	This command queries the current speed in microseconds per second.
	668	+)))
509	509
510		-====== __Timed move (**T**) modifier__ ======
	670	+|(% colspan="2" %)(((
	671	+====== __Timed move__ ======
	672	+)))
	673	+|(% style="width:30px" %) |(((
	674	+Timed Move (**T**)
511	511
512	512	Example: #5D15000T2500<cr>
513	513
...	...	@@ -514,43 +514,129 @@
514	514	Timed move can be used only as a modifier for a position (D, MD) actions. The units are in milliseconds, so a timed move of 2500 milliseconds would cause the servo to rotate from its current position to the desired position in 2.5 seconds. The onboard controller will attempt to ensure that the move is performed entirely at the desired velocity, though differences in torque may cause it to not be exact. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol.
515	515
516	516	**Note:** If the calculated speed at which a servo must rotate for a timed move is greater than its maximum speed (which depends on voltage and load), then it will move at its maximum speed, and the time of the move may be longer than requested
	681	+)))
517	517
518		-====== ======
519		-
520	520	== Telemetry ==
521	521
522		-====== __Query Voltage (**QV**)__ ======
	685	+|(% colspan="2" %)(((
	686	+====== __Temperature PCB__ ======
	687	+)))
	688	+|(% style="width:30px" %) |(((
	689	+Query Temp PCB (**QT**)
523	523
524		-Ex: #5QV<cr> might return *5QV11200<cr>
525		-
526		-The number returned is in milliVolts, so in the case above, servo with ID 5 has an input voltage of 11.2V.
527		-
528		-====== __Query Temperature (**QT**)__ ======
529		-
530	530	Ex: #5QT<cr> might return *5QT564<cr>
531	531
532	532	The units are in tenths of degrees Celcius, so in the example above, the servo's internal temperature is 56.4 degrees C. To convert from degrees Celcius to degrees Farenheit, multiply by 1.8 and add 32. Therefore 56.4C = 133.52F.
	694	+)))
533	533
534		-====== __Query Motor Driver Current (**QC**)__ ======
	696	+|(% colspan="2" %)(((
	697	+====== __Current__ ======
	698	+)))
	699	+|(% style="width:30px" %) |(((
	700	+(% class="wikigeneratedid" %)
	701	+Query Current (**QC**)
535	535
	703	+(% class="wikigeneratedid" id="HEx:235QC3Ccr3Emightreturn2A5QC1403Ccr3E" %)
536	536	Ex: #5QC<cr> might return *5QC140<cr>
537	537
538		-The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A. It represents the RMS value.
	706	+The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A. It represents the RMS value. The query calculates the RMS value of the current sent from the motor driver to the stepper motor.
	707	+)))
539	539
540		-====== __Query Model String (**QMS**)__ ======
	709	+|(% colspan="2" %)(((
	710	+====== __Model String__ ======
	711	+)))
	712	+|(% style="width:30px" %) |(((
	713	+(% class="wikigeneratedid" %)
	714	+Query Model String (**QMS**)
541	541
	716	+(% class="wikigeneratedid" id="HEx:235QMS3Ccr3Emightreturn2A5QMSLSS-HS13Ccr3E" %)
542	542	Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr>
543	543
544	544	This reply means that the servo model is LSS-HS1: a high speed servo, first revision.
	720	+)))
545	545
546		-====== __Query Firmware (**QF**)__ ======
	722	+|(% colspan="2" %)(((
	723	+====== __Firmware__ ======
	724	+)))
	725	+|(% style="width:30px" %) |(((
	726	+Query Firmware (**QF**)
547	547
548	548	Ex: #5QF<cr> might return *5QF368<cr>
549	549
550	550	The number in the reply represents the firmware version, in this example being 368.The command #5QF3<cr> can also be sent and the servo will reply with a 3 numbers firmware version, for example, 368.29.14
	731	+)))
551	551
552		-====== __Query Serial Number (**QN**)__ ======
	733	+|(% colspan="2" %)(((
	734	+====== __Serial Number__ ======
	735	+)))
	736	+|(% style="width:30px" %) |(((
	737	+(% class="wikigeneratedid" %)
	738	+Query Serial Number (**QN**)
553	553
	740	+(% class="wikigeneratedid" id="HEx:235QN3Ccr3Emightreturn2A5QN123456783Ccr3E" %)
554	554	Ex: #5QN<cr> might return *5QN12345678<cr>
555	555
556	556	The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
	744	+)))
	745	+
	746	+|(% colspan="2" %)(((
	747	+====== __Temperature Probe__ ======
	748	+)))
	749	+|(% style="width:30px" %) |(((
	750	+Query Temp motor Probe (**QTP**)
	751	+)))
	752	+
	753	+|(% colspan="2" %)(((
	754	+====== __Temperature MCU__ ======
	755	+)))
	756	+|(% style="width:30px" %) |(((
	757	+Query Temp MCU (**QTM**)
	758	+)))
	759	+
	760	+|(% colspan="2" %)(((
	761	+====== __Temp Controller Error__ ======
	762	+)))
	763	+|(% style="width:30px" %) |(((
	764	+(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
	765	+Query Temp Controller Error (**QTCE**)
	766	+)))
	767	+
	768	+|(% colspan="2" %)(((
	769	+====== __Temp Controller Warning__ ======
	770	+)))
	771	+|(% style="width:30px" %) |(((
	772	+(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
	773	+Query Temp Controller Warning (**QTCW**)
	774	+)))
	775	+
	776	+|(% colspan="2" %)(((
	777	+====== __Error Flag__ ======
	778	+)))
	779	+|(% style="width:30px" %) |(((
	780	+Query Error Flag (**QEF**)
	781	+)))
	782	+
	783	+|(% colspan="2" %)(((
	784	+====== __IMU Linear__ ======
	785	+)))
	786	+|(% style="width:30px" %) |(((
	787	+(% class="wikigeneratedid" %)
	788	+Query IMU Linear (**QIX QIY QIZ**)
	789	+
	790	+====== Ex: #6QIX<cr> might return *6QIX30<cr> ======
	791	+
	792	+This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
	793	+)))
	794	+
	795	+|(% colspan="2" %)(((
	796	+====== __IMU Angular__ ======
	797	+)))
	798	+|(% style="width:30px" %) |(((
	799	+(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
	800	+Query IMU Angular (**QIA QIB QIG**)
	801	+Ex: #6QIB<cr> might return *6QIB44<cr>
	802	+
	803	+This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 4.4 degrees per second squared.
	804	+)))
	805	+
	806	+